代码 · 已核验官方资源
审核码：verified_official; 官方关系：verified_substantive_official_repository_fixed_commit; 最近核验：2026-08-13代码：B2+Z1 Isaac Gym/PPO training and play source released
权重：not found in fixed source or release page
数据：not found; README marks imitation-data collection pipeline TODO
许可证：BSD-3-Clause；Published UniFP repository code and included assets only; Unitree SDK, Isaac Gym, firmware, real logs and future ROS2 path retain separate terms.
依赖：Ubuntu 20.04/22.04、Python 3.8、CUDA 11.2+、PyTorch 2.3.1 / CUDA 12.1 as README pins、Isaac Gym Preview 4 obtained under NVIDIA terms、NumPy、Matplotlib、Weights & Biases
硬件/传感器：Training GPU; no paper-scale GPU count disclosed、Unitree B2、Unitree Z1 6-DoF arm、two Intel RealSense cameras for paper B2+Z1 system、Unitree G1 for paper real-humanoid evidence、dedicated RTX 3090 desktop for paper B2+Z1 controller/policy inference
实机证据：Paper evaluates B2+Z1 and 29-DoF Unitree G1 real robots across seven experiments.；Force-estimation protocol: five end-effector positions, 0-60N command range; average error within 10N; Y/Z tests capped at 40N.；Force-aware diffusion imitation protocol has four real tasks; blackboard wiping uses 50 collected trajectories and paper reports ~39.5% higher aggregate success than position-only policy.
独立复现：No independently verified deployment or benchmark reproduction found.
限制/反面证据：README marks ROS2 sim-to-real and imitation-data pipeline as TODO；No released checkpoint or data；No G1 implementation/configuration found in fixed source；Isaac Gym Preview 4 requires NVIDIA access and is an aging dependency；No independent reproduction；Real-system safety/calibration and repeat-count details are incomplete
当前建议：近期四足轮臂位置力控制可复查训练源·人形实机证据待部署复现；Use the released B2+Z1 training stack as a simulation/retraining baseline. Before investing in physical deployment, replace the obsolete Isaac Gym dependency or pin it, implement the missing ROS2 bridge, measure force/safety behavior and separately validate G1 rather than infer it from README task names.
重点标签：足式全身控制主流技术2.0、位置力统一策略、Unitree B2+Z1、Unitree G1实机、近期热门、社区验证待补
核验来源：来源 1 · 来源 2 · 来源 3